Method for operating RSU related to VRU location in wireless communication system

Abstract

An embodiment relates to a method for performing operations related to a vulnerable road user (VRU) by a road side unit (RSU) in a wireless communication system, the operations comprising: receiving, by the RSU, personal safety messages (PSMs) of a VRU; determining, by the RSU, location information of the VRU on the basis of first location information of the VRU obtained through image information and second location information of the VRU obtained through the PSMs; and transmitting, by the RSU, the location information of the VRU to the VRU.

What is claimed is: 
     
         1 . A method of operating a first device related to a second device in a wireless communication system, the method comprising:
 receiving a Personal Safety Messages (PSM) message of the second device by the first device;   determining a position information of the second device by the first device; and   transmitting the position information of the second device to the second device by the first device,   wherein the position information is determined based on a first position information of the second device obtained through an image information and a second position information of the second device obtained through the PSM message,   wherein the image information is taken by the first device in an observation area so as to be shared with another first device.   
     
     
         2 . The method of  claim 1 , wherein when the position information of the second device is determined, a weight is applied to each of the first and second position information. 
     
     
         3 . The method of  claim 1 , wherein, based on the PSM message being generated at a timing point between a first frame and a second frame, the first position information is obtained by applying linear interpolation to a first position related to the first frame and a second position related to the second frame, and an offset is applied to a capture timing point of the first device. 
     
     
         4 . The method of  claim 3 , wherein the position information of the second device is shared with the another first device. 
     
     
         5 . The method of  claim 4 , wherein the position information of the second device includes a weight information of the first position information for the second position information used for position determination. 
     
     
         6 . The method of  claim 1 , wherein the PSM message includes the position information obtained by the second device through Global Navigation Satellite System (GNSS). 
     
     
         7 . The method of  claim 1 , wherein the PSM message includes the position information obtained by the second device through another first device, another second device or a base station. 
     
     
         8 . The method of  claim 1 , wherein the position information of the second device is determined as a value having a small error range in the first position information and the second position information. 
     
     
         9 . The method of  claim 1 , wherein the position information of the second device is determined based on an error range resulting from averaging an error range of the first position information and an error range of the second position information. 
     
     
         10 . The method of  claim 9 , wherein the position information of the second device is included in an intersection between an area corresponding to the error range of the first position information and an area corresponding to the error range of the second position information. 
     
     
         11 . The method of  claim 1 , wherein the first device is a Road Side Unit (RSU) and the second device is a Vulnerable Road User (VRU). 
     
     
         12 . A first device performing a second device related operation, the first device comprising:
 at least one processor; and   at least one computer memory operably connected to the at least one processor and storing instructions to enable the at least one processor to perform operations, the operations comprising:   receiving a PSM message of a second device;   determining a position information of the second device; and   transmitting the position information of the second device to the second device,   wherein the position information is determined based on a first position information of the second device obtained through an image information and a second position information of the second device obtained through the PSM message,   wherein the image information is taken by the first device in an observation area so as to be shared with another first device.   
     
     
         13 . A method of operating a second device related to a first device in a wireless communication system, the method comprising:
 transmitting a PSM message to the first device by the second device; and   receiving a position information of the second device from the first device by the second device,   wherein the position information of the second device is determined based on a first position information of the second device obtained by the first device through an image information and a second position information of the second device obtained through the PSM message,   wherein the image information is taken by the first device in an observation area so as to be shared with another first device.   
     
     
         14 . A second device related to a first device in a wireless communication system, the second device comprising:
 at least one processor; and   at least one computer memory operably connected to the at least one processor and storing instructions to enable the at least one processor to perform operations, the operations comprising:   transmitting a PSM message to the first device by the second device; and   receiving a position information of the second device from the first device by the second device,   wherein the position information of the second device is determined based on a first position information of the second device obtained by the first device through an image information and a second position information of the second device obtained through the PSM message,   wherein the image information is taken by the first device in an observation area so as to be shared with another first device.